Lighting apparatus for vehicle and control method the same

ABSTRACT

A lighting apparatus for a vehicle may include: a first body mounted on a vehicle body, a second body rotatably installed in the first body, a driving unit configured to rotate the second body, a lighting unit rotated along with the second body and configured to radiate a lighting signal to an outside of the vehicle, a speaker unit rotated along with the second body and configured to output an acoustic signal to the outside of the vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority from and the benefit of Korean PatentApplication Nos. 10-2022-0075440, 10-2022-0075438, and 10-2022-0075439filed on Jun. 21, 2022, which are hereby incorporated by reference forall purposes as if set forth herein.

BACKGROUND Technical Field

Exemplary embodiments of the present disclosure relate to a lightingapparatus for a vehicle and a method of controlling the same, and moreparticularly, to a lighting apparatus for a vehicle, which can transfera signal to a surrounding vehicle, a surrounding driver, or asurrounding pedestrian, and a method of controlling the same.

Discussion of the Background

In general, various types of lighting apparatuses for easily confirmingan object around a vehicle and notifying a surrounding vehicle, asurrounding pedestrian, etc. of a state of the vehicle or transferring asignal to the surrounding vehicle, the surrounding pedestrian, etc. whenthe vehicle travels is installed in the vehicle.

However, a conventional lighting apparatus has a limited type of signalwhich may be transferred because the signal is transferred through onlythe on and off of an LED, and has a problem in that a signal is clearlytransferred because only a rather planar image can be transferred.Furthermore, in a daytime condition in which an illuminance valueoutside a vehicle is high, there is a problem in that the transfer of asignal by only the on and off of the LED has low visibility.

The Background of the present disclosure was disclosed in Korean PatentNo. 10-1789652 (issued on Oct. 18, 2017) entitled “LED LAMP OF AVEHICLE”.

SUMMARY

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter.

Various embodiments are directed to providing a lighting apparatus for avehicle, which can transfer an acoustic signal in addition to a lightingsignal by light, and a method of controlling the same.

A lighting apparatus for a vehicle may include a first body mounted on avehicle body; a second body rotatably installed in the first body; adriving unit configured to rotate the second body; a lighting unitrotated along with the second body and configured to radiate a lightingsignal to an outside of the vehicle; a speaker unit rotated along withthe second body and configured to output an acoustic signal to theoutside of the vehicle.

Furthermore, the lighting apparatus may further include a sensor unitconfigured to detect a state of the vehicle and surrounding informationof the vehicle; and a control unit configured to determine an operationmode by receiving the information detected by the sensor unit and tocontrol operations of the driving unit, the lighting unit, and thespeaker unit based on the determined operation mode.

Furthermore, the sensor unit may include at least any one of: a drivingdetection sensor configured to detect a driving state of the vehicle; anobject detection sensor configured to detect an object around thevehicle; a distance detection sensor configured to detect a distancebetween the vehicle and a driver terminal; or a danger detection sensorconfigured to detect a dangerous situation of the vehicle.

Furthermore, the object detection sensor may include a plurality ofLIDAR sensors fixed to the first body and configured to obtain athree-dimensional (3-D) image around the vehicle; and a camera modulerotated along with the second body and configured to capture an imagearound the vehicle.

Furthermore, the plurality of the LIDAR sensors may be disposed to bespaced apart from each other in a circumferential direction of the firstbody.

Furthermore, the lighting unit may include a first lighting unit coupledto the second body and configured to radiate an optical image toward aroad surface; a second lighting unit coupled to the second body andconfigured to display a set color toward the outside of the vehicle.

Furthermore, the first lighting unit may be disposed to be inclined at agiven angle toward a lower side of the second body.

Furthermore, the lighting unit may further include a third lighting unitcoupled to the first body and configured to form a beam pattern towardthe outside of the vehicle.

Furthermore, the second body may be rotatably installed around adirection perpendicular to a ground as an axis.

Furthermore, a grill unit configured to transmit, toward an outside ofthe second body, the lighting signal radiated by the lighting unit andthe acoustic signal output by the speaker unit may be formed in thesecond body.

Furthermore, the speaker unit may be disposed to be inclined at a givenangle toward an upper side of the second body.

A method of controlling a lighting apparatus for a vehicle may includedetecting, by a sensor unit, a pedestrian located in front of a vehicle;determining, by a control unit, a walking path of the pedestrian basedon information detected by the sensor unit; and outputting, by thecontrol unit, a lighting signal and an acoustic signal to the walkingpath of the pedestrian by operating a driving unit, a lighting unit, anda speaker unit.

Furthermore, the lighting unit may include a first lighting unit coupledto a second body which is rotatably installed in a first body, andconfigured to radiate an optical image toward a road surface; and asecond lighting unit coupled to the second body and configured todisplay a set color toward an outside of the vehicle under control ofthe control unit.

Furthermore, the outputting of the lighting signal and the acousticsignal to the walking path of the pedestrian may include calculating, bythe control unit, a rotation angle of the second body based on thewalking path of the pedestrian; rotating, by the control unit, thesecond body at a calculated rotation angle by operating the drivingunit; radiating, by the control unit, the optical image toward the roadsurface by operating the first lighting unit; and outputting, by thecontrol unit, the acoustic signal toward the pedestrian by operating thespeaker unit.

Furthermore, the method may further include detecting, by the sensorunit, a change in the location of the pedestrian; determining, by thecontrol unit, whether a walking of the pedestrian has been completed;correcting, by the control unit, the calculated rotation angle of thesecond body based on the changed location of the pedestrian if it isdetermined that the walking of the pedestrian has not been completed;and rotating, by the control unit, the second body at a correctedrotation angle by operating the driving unit.

A method of controlling a lighting apparatus for a vehicle may includedetecting, by a sensor unit, a driving state of a vehicle and a movingobject around the vehicle, determining, by a control unit, a collisionpossibility between the vehicle and the moving object based on thedriving state of the vehicle and a location of the moving object, andoutputting, by the control unit, a lighting signal and an acousticsignal toward the moving object by operating a driving unit, a lightingunit, and a speaker unit, when determining that the collisionpossibility between the vehicle and the moving object is present.

Furthermore, the lighting unit may include a first lighting unitrotatably installed in a first body, coupled to a second body rotated inassociation with driving power of the driving unit, and configured toradiate an optical image toward a road surface, and a second lightingunit coupled to the second body and configured to display a set colortoward the outside of the vehicle.

Furthermore, the outputting of the lighting signal and the acousticsignal toward the moving object may include calculating, by the controlunit, a rotation angle of the second body based on the location of themoving object, rotating, by the control unit, the second body at acalculated rotation angle by operating the driving unit, radiating, bythe control unit, an optical image toward a road surface where themoving object is located by operating the first lighting unit, andoutputting, by the control unit, an acoustic signal toward the movingobject by operating the speaker unit.

Furthermore, the method may further include detecting, by the sensorunit, a change in the location of the moving object, and determining, bythe control unit, whether an avoidance of the moving object has beencompleted based on a changed location of the moving object.

Furthermore, the method may further include correcting, by the controlunit, the calculated rotation angle of the second body based on thechanged location of the moving object, when determining that theavoidance of the moving object has not been completed, and rotating, bythe control unit, the second body at a corrected rotation angle byoperating the driving unit.

The lighting apparatus for a vehicle and the method of controlling thesame according to embodiments of the present disclosure can performefficient communication with a surrounding vehicle, a surroundingdriver, a surrounding pedestrian, a surrounding animal, etc. through acombination of a lighting signal by the lighting unit and an acousticsignal by the speaker unit.

Furthermore, the lighting apparatus for a vehicle and the method ofcontrolling the same according to embodiments of the present disclosurecan perform consistent communication with a moving object because theradiation directions and output directions of the lighting unit and thespeaker unit can be actively changed by the rotation of the second body.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram schematically illustrating the state in which alighting apparatus for a vehicle according to an embodiment of thepresent disclosure has been installed.

FIG. 2 is a perspective view schematically illustrating a constructionof the lighting apparatus for a vehicle according to an embodiment ofthe present disclosure.

FIG. 3 is a front view schematically illustrating a construction of thelighting apparatus for a vehicle according to an embodiment of thepresent disclosure.

FIG. 4 is a perspective view schematically illustrating an internalconstruction of the lighting apparatus for a vehicle according to anembodiment of the present disclosure.

FIG. 5 is a block diagram schematically illustrating a construction ofthe lighting apparatus for a vehicle according to an embodiment of thepresent disclosure.

FIG. 6 is an enlarged view schematically illustrating a construction ofa first lighting unit according to an embodiment of the presentdisclosure.

FIG. 7 is an enlarged view schematically illustrating a construction ofa speaker unit according to an embodiment of the present disclosure.

FIG. 8 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs a welcome mode and a parking locationnotification mode.

FIG. 9 is a flowchart schematically illustrating the sequence of stepS130 according to an embodiment of the present disclosure.

FIG. 10 is a diagram schematically illustrating an operating state ofthe lighting apparatus for a vehicle according to an embodiment of thepresent disclosure in step S130.

FIG. 11 is a flowchart schematically illustrating the sequence of stepS140 according to an embodiment of the present disclosure.

FIG. 12 is a diagram schematically illustrating an operating state ofthe lighting apparatus for a vehicle according to an embodiment of thepresent disclosure in step S140.

FIG. 13 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs a danger warning mode.

FIG. 14 is a flowchart schematically illustrating the sequence of stepS220 according to an embodiment of the present disclosure.

FIG. 15 is a diagram schematically illustrating an operating state ofthe lighting apparatus for a vehicle according to an embodiment of thepresent disclosure in step S220.

FIG. 16 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs a collision prevention mode.

FIG. 17 is a diagram schematically illustrating an operating state ofthe lighting apparatus for a vehicle according to an embodiment of thepresent disclosure in step S320.

FIG. 18 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs a walking guide mode.

FIGS. 19 and 20 are diagrams illustrating optical images radiated fromthe first lighting unit toward a road surface in step S433 according toan embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

The following detailed description is provided to assist the reader ingaining a comprehensive understanding of the methods, apparatuses,and/or systems described herein. However, various changes,modifications, and equivalents of the methods, apparatuses, and/orsystems described herein will be apparent after an understanding of thedisclosure of this application. For example, the sequences of operationsdescribed herein are merely examples, and are not limited to those setforth herein, but may be changed as will be apparent after anunderstanding of the disclosure of this application, with the exceptionof operations necessarily occurring in a certain order.

The features described herein may be embodied in different forms and arenot to be construed as being limited to the examples described herein.Rather, the examples described herein have been provided merely toillustrate some of the many possible ways of implementing the methods,apparatuses, and/or systems described herein that will be apparent afteran understanding of the disclosure of this application.

Advantages and features of the present disclosure and methods ofachieving the advantages and features will be clear with reference toembodiments described in detail below together with the accompanyingdrawings. However, the present disclosure is not limited to theembodiments disclosed herein but will be implemented in various forms.The embodiments of the present disclosure are provided so that thepresent disclosure is completely disclosed, and a person with ordinaryskill in the art can fully understand the scope of the presentdisclosure. The present disclosure will be defined only by the scope ofthe appended claims. Meanwhile, the terms used in the presentspecification are for explaining the embodiments, not for limiting thepresent disclosure.

Terms, such as first, second, A, B, (a), (b) or the like, may be usedherein to describe components. Each of these terminologies is not usedto define an essence, order or sequence of a corresponding component butused merely to distinguish the corresponding component from othercomponent(s). For example, a first component may be referred to as asecond component, and similarly the second component may also bereferred to as the first component.

Throughout the specification, when a component is described as being“connected to,” or “coupled to” another component, it may be directly“connected to,” or “coupled to” the other component, or there may be oneor more other components intervening therebetween. In contrast, when anelement is described as being “directly connected to,” or “directlycoupled to” another element, there can be no other elements interveningtherebetween.

The singular forms “a”, “an”, and “the” are intended to include theplural forms as well, unless the context clearly indicates otherwise. Itwill be further understood that the terms “comprises/comprising” and/or“includes/including” when used herein, specify the presence of statedfeatures, integers, steps, operations, elements, and/or components, butdo not preclude the presence or addition of one or more other features,integers, steps, operations, elements, components and/or groups thereof.

FIG. 1 is a diagram schematically illustrating the state in which alighting apparatus for a vehicle according to an embodiment of thepresent disclosure has been installed. FIG. 2 is a perspective viewschematically illustrating a construction of the lighting apparatus fora vehicle according to an embodiment of the present disclosure. FIG. 3is a front view schematically illustrating a construction of thelighting apparatus for a vehicle according to an embodiment of thepresent disclosure. FIG. 4 is a perspective view schematicallyillustrating an internal construction of the lighting apparatus for avehicle according to an embodiment of the present disclosure. FIG. 5 isa block diagram schematically illustrating a construction of thelighting apparatus for a vehicle according to an embodiment of thepresent disclosure.

Referring to FIGS. 1 to 4 , the lighting apparatus 1 for a vehicleaccording to an embodiment of the present disclosure includes a firstbody 100, a second body 200, a driving unit 300, a lighting unit 400, aspeaker unit 500, a sensor unit 600, and a control unit 700.

The first body 100 is mounted on a vehicle body 10, and supports thesecond body 200. The first body 100 according to an embodiment of thepresent disclosure may be formed in the form of a barrel having one sideopened and the inside emptied. The first body 100 may be integrallycoupled to the vehicle body by welding or may be detachably coupled tothe vehicle body by bolting. The opened side of the first body 100 isdisposed toward the outside of the vehicle body 10. FIG. 1 illustratesthat the first body 100 has been mounted on the front of the vehiclebody 10 as an example, but the first body 100 is not limited to such alocation and may be mounted on the back of the vehicle body 10 or on theside of the vehicle body 10.

The second body 200 is rotatably installed in the first body 100. Thesecond body 200 according to an embodiment of the present disclosure maybe formed to have a cylindrical shape having the inside emptied. Thesecond body 200 is disposed within the first body 100, and both ends ofthe second body 200 on the upper and lower sides thereof are rotatablyconnected to the first body 100. In this case, the second body 200 maybe rotatably supported by the first body 100 by using a directionperpendicular to the ground as an axis.

A grill unit 210 for transmitting, toward the outside of the second body200, a lighting signal radiated by the lighting unit 400 that isdescribed later and an acoustic signal output by the speaker unit 500that is described later may be formed in the second body 200. The grillunit 210 according to an embodiment of the present disclosure may beformed to have a shape in which a plurality of pattern grooves formed topenetrate the second body 200 is arranged in a lattice form. The grillunit 210 is formed along the lower circumference surface of the secondbody 200, and is disposed to face an external space of the vehicle body10. The design of the plurality of pattern grooves that forms the grillunit 210 may be changed into various shapes, such as a triangle, acircle, and an ellipse, in addition to the quadrangle illustrated inFIG. 2 .

The driving unit 300 rotates the second body 200 by generating drivingpower. The driving unit 300 according to an embodiment of the presentdisclosure may be exemplified as a step motor that generates rotatorypower by being supplied with power from the outside. The driving unit300 may be supplied with power from a battery, etc. of the vehicle. Thedriving unit 300 is coupled to and supported by the bottom of the firstbody 100. In this case, the driving unit 300 may be integrally coupledto the first body 100 by welding or may be detachably coupled to thefirst body 100 by bolting. The output axis of the driving unit 300 isconnected to the second body 200. Accordingly, the driving unit 300 mayrelatively rotate the second body 200 around the first body 100 bytransferring rotatory power to the second body 200 through the medium ofthe output axis. In this case, the output axis of the driving unit 300may be directly connected to the second body 200, and may be indirectlyconnected to the second body 200 through the medium of a separatedecelerator. The output axis of the driving unit 300 is disposed in adirection parallel to the center axis of the second body 200, that is,the direction perpendicular to the ground. The driving unit 300 iselectrically connected to the control unit 700 that is described later.Whether the driving power will be generated, the direction of thedriving power, etc. may be controlled by the control unit 700.

The lighting unit 400 is rotated along with the second body 200, andradiates a lighting signal to the outside of the vehicle.

The lighting unit 400 according to an embodiment of the presentdisclosure includes a first lighting unit 410, a second lighting unit420, and a third lighting unit 430.

The first lighting unit 410 is coupled to the second body 200, andradiates an optical image toward a road surface.

FIG. 6 is an enlarged view schematically illustrating a construction ofthe first lighting unit according to an embodiment of the presentdisclosure.

Referring to FIGS. 1 to 6 , the first lighting unit 410 according to anembodiment of the present disclosure may be exemplified as a projectionapparatus for projecting an image that is printed on a film or a beamprojector for projecting a recorded digital image. The first lightingunit 410 is disposed to be located over the second lighting unit 420 andthe speaker unit 500 that are described later within the second body200. The first lighting unit 410 may be integrally coupled to the secondbody 200 by welding or may be detachably coupled to the second body 200by bolting. The first lighting unit 410 is rotated at the same angularspeed and angle as the second body 200 when the second body 200 isrotated. The first lighting unit 410 is disposed to be inclined at agiven angle toward the lower side of the second body 200. That is, thefirst lighting unit 410 is disposed so that the central axis of a lensthat radiates an optical image is inclined at a given angle 61 downwardfrom a direction transverse to the ground. Accordingly, the firstlighting unit 410 may induce the optical image that is radiated to theoutside of the vehicle to be displayed on a road surface. As illustratedin FIG. 3 , the first lighting unit 410 is disposed so that the centralaxis of the lens that radiates the optical image passes through a centerline that symmetrically divides the grill unit 210.

An image that is radiated by the first lighting unit 410 may include asymbol such as an arrow image, a picture such as a crosswalk image, textsuch as “HELLO”, a pattern such as a logo or an emblem, or a combinationof them. Accordingly, the first lighting unit 410 may be used to guideand indicate the walking of a pedestrian based on the radiated image,may be used for the purpose of a welcome function that the vehiclewelcomes a driver when the driver approaches the vehicle, or may be usedto assign aesthetic sensibility. The first lighting unit 410 iselectrically connected to the control unit 700 that is described later,and an operating state thereof may be controlled by the control unit700. The first lighting unit 410 may change the plurality of opticalimages that is radiated toward the road surface under the control of thecontrol unit 700.

The second lighting unit 420 is coupled to the second body 200, andradiates light having a color to the outside of the vehicle. The secondlighting unit 420 is provided to be capable of displaying a plurality ofcolors. The second lighting unit 420 is electrically connected to thecontrol unit 700 that is described later, and displays a set colortoward the outside of the vehicle under the control of the control unit700. The second lighting unit 420 according to an embodiment of thepresent disclosure may be exemplified as a red green blue (RGB)light-emitting diode (LED) light capable of displaying a plurality ofcolors. The second lighting unit 420 is disposed to be located under thefirst lighting unit 410 within the second body 200. The second lightingunit 420 may be integrally coupled to the second body 200 by welding ormay be detachably coupled to the second body 200 by bolting. The secondlighting unit 420 is rotated at the same angular speed and angle as thesecond body 200 when the second body 200 is rotated. The second lightingunit 420 is formed so that a length direction thereof is extended in thedirection perpendicular to the ground. The second lighting unit 420 isdisposed so that a light-emitting surface thereof faces the center linethat symmetrically divides the grill unit 210.

The second lighting unit 420 may display a first color, a second color,and a third color toward the outside of the vehicle under the control ofthe control unit 700. In this case, the first color to the third colormay be exemplified as green, blue, and red, but are not limited to suchcontents and may be variously changed in design within a range of colorswhich may be distinguished from one another.

More specifically, when the control unit 700 determines that the vehicleis now in an autonomous driving state, the second lighting unit 420 maydisplay the first color toward the outside of the vehicle under thecontrol of the control unit 700. Accordingly, the second lighting unit420 may enable a pedestrian outside the vehicle or a driver who gets inanother vehicle to easily recognize that the vehicle is now in theautonomous driving state.

Furthermore, when the control unit 700 determines that the sensor unit600 correctly recognizes a driver around the vehicle or an object, suchas a pedestrian, and is in the state in which the sensor unit 600 istracking a corresponding object, the second lighting unit 420 maydisplay the second color toward the outside of the vehicle under thecontrol of the control unit 700. Accordingly, the second lighting unit420 can provide a psychological safety feel to the driver outside thevehicle or the object, such as a pedestrian, by displaying that thevehicle now certainly recognizes the driver outside the vehicle or theobject, such as a pedestrian, with respect to the driver or the object.

Furthermore, when the control unit 700 determines that the vehicle isnow in a dangerous situation, such as damage, theft, or intrusion, thesecond lighting unit 420 may display the third color toward the outsideof the vehicle under the control of the control unit 700. Accordingly,the second lighting unit 420 may arouse attention to an object that hascaused the dangerous situation of the vehicle and induce the dangeroussituation to be solved, by displaying that the vehicle now recognizesthe dangerous situation with respect to the object that has caused thedangerous situation of the vehicle.

The third lighting unit 430 is coupled to the first body 100, and formsa beam pattern, such as a low beam or a high beam, toward the outside ofthe vehicle. The third lighting unit 430 according to an embodiment ofthe present disclosure may be exemplified as a head lamp of the existingvehicle that is constructed to include a light source, a reflector, alens, etc. and that brightens a path along which the vehicle travels.The third lighting unit 430 may be disposed to be located over thesecond body 200 within the first body 100. The third lighting unit 430may be integrally coupled to the first body 100 by welding or may bedetachably coupled to the first body 100 by bolting. The third lightingunit 430 is electrically connected to the control unit 700, and aturn-on state and turn-on mode thereof may be controlled by the controlunit 700.

The speaker unit 500 is rotated along with the second body 200, andoutputs an acoustic signal to the outside of the vehicle.

FIG. 7 is an enlarged view schematically illustrating a construction ofthe speaker unit according to an embodiment of the present disclosure.

Referring to FIGS. 1 to 7 , the speaker unit 500 according to anembodiment of the present disclosure may be a directional speaker thatoutputs an acoustic signal in a specific direction or at a certain angleto a specific direction. Accordingly, the speaker unit 500 can improverecognition efficiency and prevent the generation of noise by inducing asound to be concentrated and output to an object to which an acousticsignal is to be transferred. The speaker unit 500 may be disposed to belocated under the first lighting unit 410 within the second body 200.Furthermore, the speaker unit 500 may be disposed to be located underthe second lighting unit 420 within the second body 200. The speakerunit 500 may be integrally coupled to the second body 200 by welding ormay be detachably coupled to the second body 200 by bolting. The speakerunit 500 is disposed to be inclined at a given angle toward the upperside of the second body 200. That is, the speaker unit 500 is disposedso that a direction in which an acoustic signal is transferred isinclined at a given angle 82 upward from the direction transverse to theground. Accordingly, the speaker unit 500 can improve transferefficiency of an acoustic signal for a driver or pedestrian whorecognizes a sound at a location relatively higher than the vehicle body10.

The sensor unit 600 detects a state of the vehicle and surroundinginformation of the vehicle. That is, the sensor unit 600 functions as anelement for collecting a variety of types of information for anoperation of the control unit 700 that is described later.

The sensor unit 600 according to an embodiment of the present disclosureincludes a driving detection sensor 610, an object detection sensor 620,a distance detection sensor 630, and a danger detection sensor 640.

Hereinafter, an example in which the sensor unit 600 includes all of thedriving detection sensor 610, the object detection sensor 620, thedistance detection sensor 630, and the danger detection sensor 640 willbe described, but the sensor unit 600 is not limited to the example. Thesensor unit 600 may include any one of the driving detection sensor 610,the object detection sensor 620, the distance detection sensor 630, andthe danger detection sensor 640, a combination of two of them, or acombination of three of them.

The driving detection sensor 610 detects a driving state of the vehicle.For example, the driving detection sensor 610 detects a drivingdirection of the vehicle, a driving speed of the vehicle, whether thevehicle is traveling or has been stopped, a driving mode of the vehicle,etc. The driving detection sensor 610 converts a detected driving stateof the vehicle into a form of an electrical signal, and transfers theelectrical signal to the control unit 700 that is described later. Thedriving detection sensor 610 may be installed in the first body 100 orthe second body 200 or may be installed at various locations of thevehicle body 10. The driving detection sensor 610 according to anembodiment of the present disclosure may include at least any one of aspeed sensor, an inclination sensor, a weight sensor, a gyro sensor, aglobal positioning sensor (GPS), a geomagnetic sensor, and a current orvoltage sensor for detecting a driving mode signal of the vehicle.Furthermore, it may be said to be natural that an element capable ofadditionally obtaining driving information of the vehicle is included inthe driving detection sensor 610 although a sensor not described aboveis the element.

The object detection sensor 620 detects an object around the vehicle. Inthis case, the object may be exemplified as including all of a thing, astructure, etc. around the vehicle in addition to a movable object, suchas a driver, a pedestrian, or an animal.

The object detection sensor 620 according to an embodiment of thepresent disclosure includes a LIDAR sensor 621 and a camera module 622.

The LIDAR sensor 621 obtains a three-dimensional (3-D) image around thevehicle by using laser light. The LIDAR sensor 621 may detectinformation on a location, distance, direction, speed, etc. of an objectaround the vehicle based on the obtained image. The LIDAR sensor 621 maybe implemented by using a time of flight (TOF) method or a phase-shiftmethod. The LIDAR sensor 621 may be installed in the first body 100.More specifically, the LIDAR sensor 621 may be disposed to be locatedover the third lighting unit 430 within the first body 100. The LIDARsensor 621 may be formed in a plural number. The plurality of LIDARsensors 621 may be disposed to be spaced apart from each other in thecircumferential direction of the first body 100. Accordingly, the LIDARsensor 621 can further expand the range in which an object around thevehicle can be recognized.

The camera module 622 captures an image around the vehicle. The cameramodule 622 may detect information on a location, distance, direction,speed, etc. of an object around the vehicle based on the obtained image.The camera module 622 may be at least any one of a mono camera, a stereocamera, and an around view monitoring (AVM) camera. The camera module622 may be rotated along with the second body 200. More specifically,the camera module 622 is disposed to be located over the first lightingunit 410 within the second body 200. The camera module 622 may beintegrally coupled to the second body 200 by welding or may bedetachably coupled to the second body 200 by bolting.

Furthermore, it may be said to be natural that an element capable ofadditionally obtaining object information around the vehicle is includedin the object detection sensor 620 although a sensor not described aboveis the element.

The distance detection sensor 630 detects a distance between the vehicleand a driver terminal. The driver terminal is an informationcommunication terminal that is owned by a driver, and may be at leastany one of a smartphone, a wearable terminal, a notebook, and a tabletPC capable of wireless communication. The distance detection sensor 630includes a global positioning system (GPS), an infrared sensor, anantenna, etc., and may detect a relative azimuth and relative distanceof a driver for the vehicle. The distance detection sensor 630 measuresthe intensity of a radio signal that is transmitted from the driverterminal to the control unit 700 that is described later, and may detecta distance between the vehicle and the driver terminal based on themeasured intensity of the radio signal. Furthermore, when the controlunit 700 receives an input signal, the distance detection sensor 630 maydetect a distance between the vehicle and the driver terminal in a wayto transmit a distance detection signal to the driver terminal and toreceive a response signal for the distance detection signal from thedriver terminal. The distance detection sensor 630 may be installed inthe first body 100 or the second body 200 or may be installed at variouslocations of the vehicle body 10. Furthermore, it may be said to benatural that an element capable of additionally detecting a distancebetween the vehicle and the driver terminal is included in the distancedetection sensor 630 although a sensor not described above is theelement.

The danger detection sensor 640 detects a dangerous situation of thevehicle. More specifically, the danger detection sensor 640 detects adamage, intrusion, or theft condition for the vehicle by obtaininginformation on at least any one of an impact that is applied to thevehicle or whether a door of the vehicle has been opened. The dangerdetection sensor 640 according to an embodiment of the presentdisclosure may include at least any one of an impact sensor, anultrasonic sensor, a tilt sensor, or a door opening and closing sensor.The danger detection sensor 640 may be installed in the first body 100or the second body 200 or may be installed at various locations of thevehicle body 10. Furthermore, it may be said to be natural that anelement capable of detecting a distance between the vehicle and thedriver terminal is included in the danger detection sensor 640 althougha sensor not described above is the element.

The control unit 700 determines an operation mode by receivinginformation detected by the detection unit 600 or an input signal fromthe driver terminal, and generally controls operations of the drivingunit 300, the lighting unit 400, and the speaker unit 500 based on thedetermined operation mode. Additionally, the control unit 700 maycontrol an operation of a brake apparatus, etc. of the vehicle. Theoperation mode that is determined by the control unit 700 may include awelcome mode, a parking location notification mode, a danger warningmode, a collision prevention mode, and a pedestrian guide mode. Adetailed control operation of the control unit 700 according to eachmode is described later.

The control unit 700 according to an embodiment of the presentdisclosure may be constructed to include at least any one of anelectronic control unit (ECU), a central processing unit (CPU), aprocessor, or a system on chip (SoC). The control unit 700 may control aplurality of hardware or software components by operating an operatingsystem or an application, and may perform various types of dataprocessing and operations. The control unit 700 may be constructed toexecute at least one instruction that is stored in memory and to storethe resulting data of the execution in the memory. The control unit 700may be constructed to include at least any one of a radio frequency (RF)device, a wireless fidelity (Wi-Fi) device, a Bluetooth device, a Zigbeedevice, and a near field communication (NFC) device in which varioustypes of communication protocols capable of receiving an input signalthat is generated by a terminal of a driver may be implemented.

Hereinafter, a method of controlling a lighting apparatus for a vehicleaccording to an embodiment of the present disclosure is described foreach operation mode that is determined by the control unit 700.

FIG. 8 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs the welcome mode and the parkinglocation notification mode.

Referring to FIG. 8 , in the state in which the vehicle has parked, thecontrol unit 700 receives an input signal that is generated by a driverterminal (S100). In this case, the input signal may be exemplified as adoor open signal, a start signal, etc.

Thereafter, the detection unit 600 detects a distance between thevehicle and the driver terminal (S110). More specifically, in step S110,the detection unit 600 may measure the intensity of a radio signal thatis transmitted from the driver terminal to the control unit 700 by usingthe distance detection sensor 630, and may detect a distance between thevehicle and the driver terminal based on the measured intensity of theradio signal. Furthermore, when the control unit 700 receives the inputsignal, the distance detection sensor 630 may detect the distancebetween the vehicle and the driver terminal in a way to transmit adistance detection signal to the driver terminal and to receive aresponse signal for the distance detection signal from the driverterminal.

The control unit 700 determines whether the distance between the vehicleand the driver terminal, which is detected by the detection unit 600, isa set distance or less (S120). In this case, the set distance may bevariously changed in design within the range of a distance in which adriver can easily identify a location of the vehicle with the naked eye.

When the distance between the vehicle and the driver terminal, which isdetected by the detection unit 600, is the set distance or less, thecontrol unit 700 outputs a lighting signal and an acoustic signal towardthe driver by operating the driving unit 300, the lighting unit 400, andthe speaker unit 500 (S130).

FIG. 9 is a flowchart schematically illustrating the sequence of stepS130 according to an embodiment of the present disclosure. FIG. 10 is adiagram schematically illustrating an operating state of the lightingapparatus for a vehicle according to an embodiment of the presentdisclosure in step S130.

Step S130 is described more specifically with reference to FIGS. 9 and10 . The detection unit 600 detects a location of a driver who hasapproached within a set distance (S131). More specifically, in stepS131, the detection unit 600 detects information on a location,distance, speed, etc. of the driver around the vehicle by using theLIDAR sensor 621 and camera module 622 of the object detection sensor620.

Thereafter, the control unit 700 calculates a rotation angle of thesecond body 200 based on information on the location of the driverdetected by the detection unit 600 (S132). More specifically, in stepS132, the control unit 700 compares the location of the driver detectedby the detection unit 600, and a current lighting radiation direction ofthe lighting unit 400 and a current acoustic output direction of thespeaker unit 500, and calculates the rotation angle of the second body200, which is necessary until the lighting radiation direction of thelighting unit 400 and the acoustic output direction of the speaker unit500 are matched with the location of the driver detected by thedetection unit 600.

Thereafter, the control unit 700 rotates the second body 200 at arotation angle that is calculated by operating the driving unit 300(S133).

Thereafter, the control unit 700 radiates an optical image toward a roadsurface where the driver is located by operating the first lighting unit410 (S134). In step S134, the optical image that is radiated from thefirst lighting unit 410 toward the road surface may be various types offigures, symbols, pictures, or text, or a combination of them.

Furthermore, the control unit 700 outputs an acoustic signal toward thedriver by operating the speaker unit 500 (S135). In step S135, thespeaker unit 500 may output the acoustic signal, for example, “Hi drivername”.

Furthermore, the control unit 700 displays a second color toward thedriver by operating the second lighting unit 420 (S136).

Thereafter, the control unit 700 determines whether the driver hasgotten in the vehicle based on the information detected by the detectionunit 600.

When it is determined that the driver has gotten in the vehicle, thecontrol unit 700 stops the operations of the driving unit 300, thelighting unit 400, and the speaker unit 500.

FIG. 9 illustrates an example in which steps S134, S135, and S136 aresequentially performed. However, steps S134, S135, and S136 are notlimited to such contents, and may be simultaneously performed or may beperformed in a different order.

When the distance between the vehicle and the driver terminal, which isdetected by the detection unit 600, is greater than the set distance instep S120, the control unit 700 outputs a lighting signal and anacoustic signal to the outside of the vehicle by operating the lightingunit 400 and the speaker unit 500 (S140).

FIG. 11 is a flowchart schematically illustrating the sequence of stepS140 according to an embodiment of the present disclosure. FIG. 12 is adiagram schematically illustrating an operating state of the lightingapparatus for a vehicle according to an embodiment of the presentdisclosure in step S140.

Step S140 is described more specifically with reference to FIGS. 11 and12 . The control unit 700 radiates an optical image toward a roadsurface where a driver is located by operating the first lighting unit410 (S141). In step S141, the optical image that is radiated from thefirst lighting unit 410 toward the road surface may be various types offigures, symbols, pictures, or text, or a combination of them.Accordingly, a driver can easily identify the place where his or her ownvehicle has parked based on an optical image displayed on a road surfaceeven in a situation in which multiple vehicles have parked in a row.

Furthermore, the control unit 700 outputs an acoustic signal to theoutside of the vehicle by operating the speaker unit 500 (S142). In stepS142, the speaker unit 500 may output the acoustic signal, for example,“Hi driver name”. Accordingly, a driver can easily identify the placewhere a vehicle has parked based on an acoustic signal displayed on aroad surface even in a situation in which multiple vehicles have parkedin a row.

Thereafter, when the distance between the vehicle and the driverterminal, which is detected by the detection unit 600, is the setdistance or less, the control unit 700 may drive the driving unit 300,the lighting unit 400, and the speaker unit 500 so that step S130 isperformed.

FIG. 13 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs the danger warning mode.

Referring to FIG. 13 , first, the sensor unit 600 detects at least anyone of an impact that is applied to the vehicle or the open or closestate of a door of the vehicle by using the danger detection sensor 640(S200).

Thereafter, the control unit 700 determines a dangerous situation of thevehicle based on the information detected by the sensor unit 600 (S210).More specifically, in step S210, the control unit 700 first determineswhether the vehicle is turned on or off.

When the vehicle is turned off, the control unit 700 determines whetherthe size of the impact applied to the vehicle is greater than a setsize. In this case, the size of the impact, that is, a determinationcriterion of the control unit 700, may be designed and changed intovarious values depending on an impact location of the vehicle or thetype of vehicle.

Furthermore, the control unit 700 determines whether the door of thevehicle has been opened without permission, without an input signal froma driver terminal.

Thereafter, if any one of the conditions in which the size of the impactapplied to the vehicle is greater than the set size and the door of thevehicle has been opened without permission, without the input signalfrom the driver terminal is satisfied, the control unit 700 determinesthat the vehicle is in the dangerous situation.

If it is determined that the vehicle is in the dangerous situation, thecontrol unit 700 outputs a lighting signal and an acoustic signal to theoutside of the vehicle by operating the driving unit 300, the lightingunit 400, and the speaker unit 500 (S220).

FIG. 14 is a flowchart schematically illustrating the sequence of stepS220 according to an embodiment of the present disclosure. FIG. 15 is adiagram schematically illustrating an operating state of the lightingapparatus for a vehicle according to an embodiment of the presentdisclosure in step S220.

Step S220 is described more specifically with reference to FIGS. 14 and15. The detection unit 600 detects a location of a danger-causing objectthat has approached within a set distance (S221). In this case, thedanger-causing object means a movable object that is located closest tothe vehicle among objects around the vehicle, which are detected by thedetection unit 600 when the control unit 700 determines the dangeroussituation, for example, a person or a vehicle. In step S221, thedetection unit 600 detects information on a location, distance, speed,etc. of the danger-causing object that has been located around thevehicle by using the LIDAR sensor 621 and camera module 622 of theobject detection sensor 620.

Thereafter, the control unit 700 calculates a rotation angle of thesecond body 200 based on the information on the location of thedanger-causing object, which is detected by the detection unit 600(S222). More specifically, in step S222, the control unit 700 comparesthe location of the danger-causing object detected by the detection unit600, and a current lighting radiation direction of the lighting unit 400and a current acoustic output direction of the speaker unit 500, andcalculates the rotation angle of the second body 200 that is necessaryuntil the lighting radiation direction of the lighting unit 400 and theacoustic output direction of the speaker unit 500 are matched with thelocation of the danger-causing object detected by the detection unit600.

Thereafter, the control unit 700 rotates the second body 200 at thecalculated rotation angle by operating the driving unit 300 (S223).

Thereafter, the control unit 700 radiates an optical image toward a roadsurface where the danger-causing object is located by operating thefirst lighting unit 410 (S224). In step S224, the optical image that isradiated from the first lighting unit 410 toward the road surface may bea figure, a symbol, a picture, or text that transfers a warning meaning,or a combination of them. In step S224, the control unit 700 may drivethe first lighting unit 410 so that the optical image radiated by thefirst lighting unit 410 flickers.

Furthermore, the control unit 700 outputs an acoustic signal to theoutside of the vehicle, more specifically toward the danger-causingobject by operating the speaker unit 500 (S225). In step S225, thespeaker unit 500 may output the acoustic signal, for example, “Warning”that transfers a warning meaning, for example.

Furthermore, the control unit 700 displays the third color toward theoutside of the vehicle, more specifically, toward the danger-causingobject by operating the second lighting unit 420 (S226). In step S226,the control unit 700 may drive the second lighting unit 420 so that thesecond lighting unit 420 displays the third color while flickering.

FIG. 14 illustrates an example in which steps S224, S225, and S226 aresequentially performed. However, steps S224, S225, and S226 are notlimited to such contents, and may be simultaneously performed or may beperformed in a different order.

Thereafter, the detection unit 600 detects a change in the location ofthe danger-causing object.

The control unit 700 determines whether to avoid the danger-causingobject based on the changed location of the danger-causing objectdetected by the detection unit 600.

If it is determined that the avoidance of the danger-causing object hasbeen completed, the control unit 700 stops the operations of the drivingunit 300, the lighting unit 400, and the speaker unit 500.

FIG. 16 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs the collision prevention mode. FIG.17 is a diagram schematically illustrating an operating state of thelighting apparatus for a vehicle according to an embodiment of thepresent disclosure in step S320.

Referring to FIGS. 16 and 17 , first, the sensor unit 600 detects adriving state of the vehicle and a moving object around the vehicle(S300).

More specifically, in step S300, the sensor unit 600 detects a drivingmode of the vehicle by using the driving detection sensor 610.

The control unit 700 determines whether the vehicle autonomously drivesbased on the information detected by the driving detection sensor 610(S301).

If it is determined that the vehicle autonomously drives, the controlunit 700 displays the first color toward the outside of the vehicle byoperating the second lighting unit 420 (S302). Accordingly, a pedestrianoutside the vehicle, a driver of another vehicle, etc. may easilyrecognize that the vehicle is now in the autonomous driving state.

If it is determined that the vehicle does not autonomously drive, thecontrol unit 700 stops an operation of the second lighting unit 420.

Furthermore, in step S300, the sensor unit 600 detects a moving objectaround the vehicle by using the object detection sensor 620. The objectdetection sensor 620 may detect information on a location, distance,speed, etc. of the moving object around the vehicle through the LIDARsensor 621 and the camera module 622. In this case, the moving object isan object which may be moved around the vehicle, and may be exemplifiedas a pedestrian, an animal, or a bicycle rider.

Thereafter, the control unit 700 determines a collision possibilitybetween the vehicle and the moving object, based on the driving state ofthe vehicle and the information on the location of the moving objectdetected by the sensor unit 600 (S310). More specifically, in step S310,the control unit 700 determines whether the moving object is located onan expected driving path of the vehicle, based on a driving direction ofthe vehicle detected by the driving detection sensor 610 and a locationand moving direction of the moving object detected by the objectdetection sensor 620.

In this process, the control unit 700 determines whether the distancebetween the vehicle and the moving object is a set distance or less.

If the vehicle has not been decelerated or has not braked by the drivereven though the distance between the vehicle and the moving objectbecomes the set distance or less, the control unit 700 may slow down thevehicle or brake the vehicle by operating the brake apparatus of thevehicle.

If it is determined that the collision possibility between the vehicleand the moving object is present in step S310, the control unit 700outputs a lighting signal and an acoustic signal toward the movingobject by operating the driving unit 300, the lighting unit 400, and thespeaker unit 500 (S320).

More specifically, the control unit 700 calculates a rotation angle ofthe second body 200 based on the information on the location of themoving object detected by the detection unit 600 (S321). Morespecifically, in step S321, the control unit 700 compares the locationof the moving object detected by the detection unit 600, and a currentlighting radiation direction of the lighting unit 400 and a currentacoustic output direction of the speaker unit 500, and calculates therotation angle of the second body 200 that is necessary until thelighting radiation direction of the lighting unit 400 and the acousticoutput direction of the speaker unit 500 are matched with the locationof the moving object detected by the detection unit 600.

Thereafter, the control unit 700 rotates the second body 200 at thecalculated rotation angle by operating the driving unit 300 (S322).

Thereafter, the control unit 700 radiates an optical image toward a roadsurface where the moving object is located by operating the firstlighting unit 410 (S323). In step S323, the optical image that isradiated from the first lighting unit 410 toward the road surface may bea figure, a symbol, a picture, or text that transfers a warning meaning,or a combination of them. In step S323, the control unit 700 may drivethe first lighting unit 410 so that the optical image radiated by thefirst lighting unit 410 flickers.

Furthermore, the control unit 700 outputs an acoustic signal toward themoving object by operating the speaker unit 500 (S324). In step S324,the speaker unit 500 may output the acoustic signal, for example,“Warning” that transfers a warning meaning, for example.

Furthermore, the control unit 700 displays the second color toward theoutside of the vehicle, more specifically, toward the moving object byoperating the second lighting unit 420 (S325). In step S325, if thesecond lighting unit 420 displays the first color, the control unit 700operates the second lighting unit 420 so that the first color displayedby the second lighting unit 420 is changed into the second color.Accordingly, the moving object around the vehicle can recognize that thevehicle now recognizes itself.

FIG. 16 illustrates an example in which steps S323, S324, and S325 aresequentially performed. However, steps S323, S324, and S325 are notlimited to such contents, and may be simultaneously performed or may beperformed in a different order.

Thereafter, the detection unit 600 detects a change in the location ofthe moving object (S330).

The control unit 700 determines whether the avoidance of the movingobject has been completed based on a changed location of the movingobject detected by the detection unit 600 (S340). In step S340, if it isdetermined that the moving object has deviated from an expected drivingpath of the vehicle, the control unit 700 may determine that theavoidance of the moving object has been completed.

If it is determined that the avoidance of the moving object has not beencompleted, the control unit 700 corrects the calculated rotation angleof the second body 200 based on the information on the changed locationof the moving object (S350). Step S350 may be performed by using thesame method as that of step S321.

Thereafter, the control unit 700 rotates the second body 200 at thecorrected rotation angle by operating the driving unit 300 (S360).

Thereafter, if it is determined that the avoidance of the moving objecthas been completed, the control unit 700 stops the operations of thedriving unit 300, the lighting unit 400, and the speaker unit 500.

FIG. 18 is a flowchart schematically illustrating an operation sequencein which the lighting apparatus for a vehicle according to an embodimentof the present disclosure performs the walking guide mode.

Referring to FIG. 18 , first, the sensor unit 600 detects a pedestrianin front of the vehicle in the state in which the vehicle has beenstopped (S400). More specifically, in step S400, the sensor unit 600detects the pedestrian around the vehicle by using the object detectionsensor 620. The object detection sensor 620 may detect information on alocation, distance, speed, etc. of a moving object around the vehicle byusing the LIDAR sensor 621 and the camera module 622.

Thereafter, the control unit 700 receives an input signal that isgenerated by a driver terminal (S410). The input signal generated instep S410 is a signal that instructs the control unit 700 to performstep S420 that is described later, and may be variously designed andchanged within the range of a signal different from the input signalthat is generated in step S100.

Thereafter, the control unit 700 determines a walking path of thepedestrian based on a location, moving direction, speed, etc. of thepedestrian detected by the sensor unit 600, more specifically, theobject detection sensor 620 (S420).

After the walking path of the pedestrian is determined, the control unit700 outputs a lighting signal and an acoustic signal toward the walkingpath of the pedestrian by operating the driving unit 300, the lightingunit 400, and the speaker unit 500 (S430).

More specifically, the control unit 700 calculates a rotation angle ofthe second body 200 based on the walking path of the pedestriandetermined in step S420 (S431). More specifically, in step S431, thecontrol unit 700 compares a determined expected walking path of thepedestrian, the location of the pedestrian detected by the detectionunit 600, a current lighting radiation direction of the lighting unit400, and a current acoustic output direction of the speaker unit 500,and calculates the rotation angle of the second body 200 that isnecessary for the lighting radiation direction of the lighting unit 400and the acoustic output direction of the speaker unit 500 to be directedtoward the front in the walking direction of the pedestrian.

Thereafter, the control unit 700 rotates the second body 200 at thecalculated rotation angle by operating the driving unit 300 (S432).

Thereafter, the control unit 700 radiates an optical image toward a roadsurface where the pedestrian is located by operating the first lightingunit 410 (S433).

FIGS. 19 and 20 are diagrams illustrating optical images radiated fromthe first lighting unit toward a road surface in step S433 according toan embodiment of the present disclosure.

Furthermore, referring to FIG. 19 , the optical image that is radiatedfrom the first lighting unit 410 toward the road surface in step S433may be a crosswalk shape. Accordingly, the first lighting unit 410 mayprovide a psychological safety feel to the pedestrian, and may enable asurrounding vehicle to easily recognize that the pedestrian is in awalking state.

Referring to FIG. 20 , the optical image that is radiated from the firstlighting unit 410 toward the road surface in step S433 may be an arrowshape toward a walking direction of the pedestrian. Accordingly, thefirst lighting unit 410 may provide the pedestrian with guidance to awalking direction in a situation in which surroundings are dark, such anight situation.

In contrast, the optical image that is radiated from the first lightingunit 410 toward the road surface may be a combination of the arrow shapeand the crosswalk shape illustrated in FIGS. 19 and 20 , and may be aseparate symbol, figure, or picture in addition to the arrow shape andthe crosswalk shape.

Furthermore, the control unit 700 outputs an acoustic signal toward themoving object by operating the speaker unit 500 (S434). In step S434,the speaker unit 500 may output the acoustic signal, such as “Left” or“Right” that indicates a walking direction, to a pedestrian, forexample.

Furthermore, the control unit 700 displays the second color toward theoutside of the vehicle, more specifically, a moving object by operatingthe second lighting unit 420 (S435). Accordingly, the second lightingunit 420 may provide a psychological safety feel to the pedestrian sothat the pedestrian recognizes that the vehicle now recognizes himselfor herself.

FIG. 18 illustrates an example in which steps S433, S434, and S435 aresequentially performed. However, steps S433, S434, and S435 are notlimited to such contents, and may be simultaneously performed or may beperformed in a different order.

Thereafter, the detection unit 600 detects a change in the location ofthe pedestrian (S440).

The control unit 700 determines whether the pedestrian has completed hisor her walking based on the information on the changed location of thepedestrian detected by the detection unit 600 (S450). If it isdetermined that the pedestrian has deviated from the driving path of thevehicle in step S450, the control unit 700 may determine that thepedestrian has completed his or her walking.

If it is determined that the walking of the pedestrian has not beencompleted, the control unit 700 corrects the calculated rotation angleof the second body 200 based on the information on the changed locationof the pedestrian (S460). Step S460 may be performed by using the samemethod as that of step S431.

Thereafter, the control unit 700 rotates the second body 200 at thecorrected rotation angle by operating the driving unit 300 (S470).

Thereafter, if it is determined that the avoidance of the pedestrian hasbeen completed, the control unit 700 stops the operations of the drivingunit 300, the lighting unit 400, and the speaker unit 500.

The present disclosure has been described above based on the embodimentsillustrated in the accompanying drawings, but the embodiments are merelyillustrative. A person having ordinary knowledge in the art to which thepresent disclosure pertains will understand that various modificationsand other equivalent embodiments are possible from the embodiments.Accordingly, the technical range of protection of the present disclosureshould be determined by the claims below.

What is claimed is:
 1. A lighting apparatus for a vehicle comprising: afirst body mounted on a vehicle body; a second body rotatably installedin the first body; a driving unit configured to rotate the second body;a lighting unit rotatable along with the second body and configured toradiate a lighting signal to an outside of the vehicle; and a speakerunit rotatable along with the second body and configured to output anacoustic signal to the outside of the vehicle.
 2. The lighting apparatusof claim 1, further comprising, a sensor unit configured to detect astate of the vehicle and surrounding information of the vehicle; and acontrol unit configured to determine an operation mode by receiving theinformation detected by the sensor unit and to control operations of thedriving unit, the lighting unit, and the speaker unit based on thedetermined operation mode.
 3. The lighting apparatus of claim 2, whereinthe sensor unit comprises at least one of: a driving detection sensorconfigured to detect a driving state of the vehicle; an object detectionsensor configured to detect an object around the vehicle; a distancedetection sensor configured to detect a distance between the vehicle anda driver terminal; and a danger detection sensor configured to detect adangerous situation of the vehicle.
 4. The lighting apparatus of claim3, wherein the object detection sensor comprises: a plurality of LIDARsensors fixed to the first body and configured to obtain athree-dimensional (3-D) image around the vehicle; and a camera modulerotated along with the second body and configured to capture an imagearound the vehicle.
 5. The lighting apparatus of claim 4, wherein theplurality of the LIDAR sensors are spaced apart from each other in acircumferential direction of the first body.
 6. The lighting apparatusof claim 1, wherein the lighting unit comprises: a first lighting unitcoupled to the second body and configured to radiate an optical imagetoward a road surface; a second lighting unit coupled to the second bodyand configured to display a prescribed color toward the outside of thevehicle.
 7. The lighting apparatus of claim 6, wherein the firstlighting unit is inclined at a given angle toward a lower side of thesecond body.
 8. The lighting apparatus of claim 6, wherein the lightingunit further comprises: a third lighting unit coupled to the first bodyand configured to form a beam pattern toward the outside of the vehicle.9. The lighting apparatus of claim 1, wherein the second body isinstalled rotatably about an axis perpendicular to a ground beneath thevehicle.
 10. The lighting apparatus of claim 1, including a grill unit,formed in the second body and configured to transmit the lighting signalradiated by the lighting unit and the acoustic signal output by thespeaker unit toward an outside of the second body.
 11. The lightingapparatus of claim 1, wherein the speaker unit is inclined toward anupper side of the second body.
 12. A method of controlling a lightingapparatus for a vehicle, comprising: detecting a pedestrian located infront of the vehicle; determining a walking path of the pedestrian basedon the detected information; and outputting a lighting signal and anacoustic signal to the walking path of the pedestrian.
 13. The method ofclaim 12, wherein the outputting of the lighting signal and the acousticsignal to the walking path of the pedestrian comprises: calculating arotation angle of a second body rotatably installed in a first bodybased on the walking path of the pedestrian; rotating the second body ata calculated rotation; radiating the optical image toward the road; andoutputting the acoustic signal toward the pedestrian.
 14. The method ofclaim 13, further comprising: detecting a change in the location of thepedestrian; determining whether a walking of the pedestrian has beencompleted; correcting the calculated rotation angle of the second bodybased on the changed location of the pedestrian if it is determined thatthe walking of the pedestrian has not been completed; and rotating thesecond body at a corrected rotation angle.
 15. A method of controlling alighting apparatus for a vehicle, the method comprising: detecting adriving state of a vehicle and a moving object around the vehicle;determining a collision possibility between the vehicle and the movingobject based on the driving state of the vehicle and a location of themoving object; and outputting a lighting signal and an acoustic signaltoward the moving object when determining that the collision possibilitybetween the vehicle and the moving object is present.
 16. The method ofclaim 15, wherein the outputting of the lighting signal and the acousticsignal toward the moving object comprises: calculating a rotation angleof a second body rotatably installed in a first body based on thelocation of the moving object; rotating the second body at a calculatedrotation angle; radiating an optical image toward a road surface wherethe moving object is located; and outputting an acoustic signal towardthe moving object.
 17. The method of claim 16, further comprising:detecting a change in the location of the moving object; and determiningwhether an avoidance of the moving object has been completed based on achanged location of the moving object.
 18. The method of claim 17,further comprising: correcting the calculated rotation angle of thesecond body based on the changed location of the moving object whendetermining that the avoidance of the moving object has not beencompleted; and rotating the second body at a corrected rotation angle.